Predefined-Time Full-State Constrained Control for Mobile Robot Systems With Deferred Constraints

Abstract

This article studies the tracking control problem for a class of mobile robot systems (MRSs) with time-varying deferred constraints. First, a novel time-varying function is introduced to modify the original tracking error, which avoids the conservatism of the system initial values. Then, the modified errors are constrained within the preset deferred constraints by barrier Lyapunov function method. Furthermore, by using the fraction-power-based method, the novel predefined-time full-state constrained control scheme is designed. In the end, based on Lyapunov stability theory, it is demonstrated that the states will satisfy the preset constrains, all the signals in the closed-loop system are bounded in predefined-time, and the tracking errors can converge to the desired neighborhood of the origin in predefined-time. To validate the effectiveness of our designed control scheme, numerical simulations and practical platform experiments have been conducted. To ensure repeatability, our codes are open sourced on Github: <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/JiannanChen/PTFSC-MRS.git</uri>.